EP3223996B1 - Machine de découpe au laser - Google Patents

Machine de découpe au laser Download PDF

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Publication number
EP3223996B1
EP3223996B1 EP15785189.0A EP15785189A EP3223996B1 EP 3223996 B1 EP3223996 B1 EP 3223996B1 EP 15785189 A EP15785189 A EP 15785189A EP 3223996 B1 EP3223996 B1 EP 3223996B1
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EP
European Patent Office
Prior art keywords
bridge
laser cutting
profile
cutting head
symmetry
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP15785189.0A
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German (de)
English (en)
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EP3223996A1 (fr
Inventor
Sergio Bossoni
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Bystronic Laser AG
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Bystronic Laser AG
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Publication date
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Publication of EP3223996A1 publication Critical patent/EP3223996A1/fr
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00—Working by laser beam, e.g. welding, cutting or boring
    • B23K26/08—Devices involving relative movement between laser beam and workpiece
    • B23K26/0869—Devices involving movement of the laser head in at least one axial direction
    • B23K26/0876—Devices involving movement of the laser head in at least one axial direction in at least two axial directions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00—Working by laser beam, e.g. welding, cutting or boring
    • B23K26/36—Removing material
    • B23K26/38—Removing material by boring or cutting
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/02—Carriages for supporting the welding or cutting element
    • B23K37/0211—Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track
    • B23K37/0235—Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track the guide member forming part of a portal
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/02—Carriages for supporting the welding or cutting element
    • B23K37/0288—Carriages forming part of a cutting unit
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/01—Frames, beds, pillars or like members; Arrangement of ways
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04C—STRUCTURAL ELEMENTS; BUILDING MATERIALS
    • E04C3/00—Structural elongated elements designed for load-supporting
    • E04C3/02—Joists; Girders, trusses, or trusslike structures, e.g. prefabricated; Lintels; Transoms; Braces
    • E04C3/04—Joists; Girders, trusses, or trusslike structures, e.g. prefabricated; Lintels; Transoms; Braces of metal
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/01—Frames, beds, pillars or like members; Arrangement of ways
    • B23Q1/015—Frames, beds, pillars
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/01—Frames, beds, pillars or like members; Arrangement of ways
    • B23Q1/017—Arrangements of ways

Definitions

  • the invention relates to a laser cutting machine in which a laser cutting head can be guided over a workpiece support by means of a guide system along two preferably orthogonal axes, the laser cutting head being displaceably guided along this bridge on a bridge designed in the form of a substantially straight, box-shaped profile, the Profile has at least one guide for a cutting carriage carrying the laser cutting head, and wherein, seen from a direction perpendicular to the workpiece support, the center of gravity of the laser cutting head is always next to the vertical symmetry surface of the bridge, according to the preamble of claim 1.
  • the laser cutting head can be displaced along a cutting bridge, which bridge in turn can be displaced in guides along a cutting table receiving the flat material.
  • the laser cutting head can be placed in two, preferably orthogonal, directions over any point in the processing area of the flat material.
  • the laser cutting head can preferably also be raised or lowered perpendicularly to the surface of the cutting table and thus also to the flat material.
  • the bridge which carries the laser cutting head so that it can be moved, is made of a box-shaped profile with a roughly rectangular cross-section, with a trailing cable with supply, control and sensor lines also being routed along the bridge to the laser cutting head.
  • Examples of such essentially rectangular profiles for the bridges of laser portal machines are in FIG EN202005014428 , the WO2013160392 (which serves as a basis for the preamble of claim 1) of WO2015086724 to find.
  • any bellows that may be provided is located on the side of the cutting head directly in the area of the laser reflections and splashes of hot, molten material emanating from the processing zone, which can severely damage the bellows.
  • WO2008056244A2 discloses a horizontal transom composed of a plurality of triangular cross-sectional beam members and also generally triangular in cross-section with one side parallel to the horizontal. A carriage carrying a vertically movable measuring head can be moved on this crossbeam.
  • a drilling and milling machine is in the CN102198593A described, wherein the processing head is horizontally displaceable along a crossbar which has a substantially triangular cross-section. Two sides are oriented vertically or horizontally, while the third side is inclined to the vertical and the processing head is arranged on this third side, projecting laterally beyond the crossbeam.
  • the pamphlet WO 2007/144906 A1 discloses a coordinate measuring machine with a movable bridge on which a movable carriage is provided.
  • the bridge has a transom with a triangular cross section.
  • a laser cutting machine in which the cutting carriage and/or the laser cutting head is connected to an energy supply, laser source or the like and/or an evaluation unit, a control unit or the like by means of a trailing cable, with the bridge is designed in such a way that at least two opposite side surfaces of the profile in relation to the vertical surface of symmetry, at least over a part of the height of the profile, form an angle that opens towards the processing area that is not equal to zero and less than 180°, preferably less than 90° , enclosing, wherein a second side surface, which faces away from the cutting carriage or the processing head with respect to the vertical surface of symmetry, has an inclined section at least over part of its height, which has an angle between 10° and 60°, preferably between 20° and 45° , with the vertical plane of symmetry inclusive sst, and wherein a projection is provided on the second side surface in the portion closer to the machining area with an upper side running substantially perpendicularly to the
  • the lower strand of a section of the towing cable running in the longitudinal direction of the bridge is supported on it and is thus protected from material spatter occurring during cutting.
  • the power flow from the laser cutting head or the cutting carriage carrying it can be ideally guided via the guide into the carrier structure.
  • dust or material spatter occurring during the cutting process, particularly on the side of the laser cutting head cannot easily damage any bellows that may be provided.
  • the upper side of the bridge is preferably designed as a triangular edge and the bridge as a whole is designed essentially as a triangular box profile.
  • laser reflections and material splashes can only reach the bellows to a small extent or not at all and damage them. Also, dust does not settle on it so easily. If the upper side of the bridge is completely triangular, material splashes and dust cannot settle on the upper side of the bridge, but can slide off along the sloping surfaces.
  • At least the side surface of the profile facing the cutting carriage or the processing head encloses an angle of between 10° and 60°, preferably between 20° and 45°, with the vertical surface of symmetry at least over part of its height. Due to this inclination on the side of the bridge that is subjected to the force of the weight of the cutting carriage and the projecting laser cutting head, high flexural rigidity (both in the longitudinal direction of the bridge and perpendicular to it) and high torsional rigidity can be achieved despite the lightweight construction. Any bellows lies outside the path of laser reflections and material splashes from the processing zone and is therefore protected to the greatest possible extent against damage caused by laser reflections and hot material splashes. With an appropriate relationship between the inclination of the side surface and the height of the bridge, the focus of the arrangement of the cutting carriage and laser cutting head can also be within the vertical projection of the force transmission points from the bridge to the support structure.
  • a further embodiment according to the invention provides that at least two guides spaced over the height of a side surface, preferably a side surface inclined relative to the vertical symmetry surface, are provided for a cutting carriage carrying the laser cutting head and define an outer boundary surface on the side of the laser cutting head, wherein this outer boundary surface encloses an angle of between 10 and 60°, preferably an angle of between 20 and 45°, with the vertical plane of symmetry.
  • a further preferred embodiment of the invention provides that a side surface of the profile facing the workpiece support is more than 30%, preferably more than half, of the Width of the profile or the support distance between the two power transmission points, essentially flat and parallel to the workpiece support.
  • the optional feature of the invention is provided that the profile is made of folded sheet metal connected to one another, preferably in the form of a hollow profile with at least one inner cross brace.
  • a bridge constructed in this way is mass-optimized despite the best mechanical and vibration properties. Less material is used and light steel structures can be used. This bridge also allows for easy assembly because it does not have to be plugged in, but can be manufactured, handled and installed in one piece.
  • a further feature of the invention is preferably that the bridge is mounted at least on the side facing the workpiece support, preferably at the two opposite ends in the longitudinal direction, and is preferably mounted displaceably orthogonally to the longitudinal extent of the bridge relative to the workpiece support.
  • a preferred feature of the invention is that the mounting of the bridge and/or its guide for displacement relative to the workpiece support is arranged below the center of gravity of the bridge.
  • a particularly advantageous embodiment of the invention also provides that at least each force transmission point from the bridge to its support structure is in a range of +/-100 mm from the intersection of the extension of a boundary surface with the upper edge of the support structure. This results in an optimal introduction of the forces from the bridge into the support structure.
  • the cutting bridge B shown as an example according to the prior art consists of a profile 1 that is essentially rectangular in cross section, with guide rails 2 for a cutting carriage 3.
  • This cutting carriage is mounted on the guide rails 2 along the longitudinal extent (in 1 perpendicular to the plane of the paper) and carries the laser cutting head K.
  • the guide rails 2 define an outer boundary surface FB of the bridge B, which is part of the guiding system for the laser cutting head K, in order to move it along two preferably orthogonal axes via a workpiece support W (see 2 ) respectively.
  • the bridge B usually designed in the form of a straight, box-shaped profile, typically also carries other components, for example a trailing cable 4 with supply, control and sensor lines to the laser cutting head K.
  • the profile 1 of the bridge B is usually below the center of gravity in corresponding Structures 5 out or stored.
  • the center of gravity of the laser cutting head K seen from a direction perpendicular to the workpiece support, is always next to the vertical symmetry surface VSE of bridge B.
  • the bridge B itself and all the elements connected to it, in particular the laser cutting head K, the trailing cable 4, etc., can in turn be displaced in guides 6 along a cutting table with the workpiece support W receiving the flat material.
  • the end pieces 7 of the bridge B are provided with support wheels 8, which are supported on the guides 6 and force application points from the bridge B in define their support structure on the machine frame.
  • the guides 6 preferably run orthogonally to the longitudinal extent of the bridge B.
  • two opposite side surfaces 10, 11 of the profile 1 in relation to the vertical surface of symmetry VSE close together an opening towards the processing area (below the profile 1) with the flat material FL to be processed Include angle ⁇ not equal to zero and less than 180°, preferably less than 90°.
  • a trapezoidal shape of the profile 2 would also be possible in that the side surfaces 10, 11 do not intersect but are connected to one another by an upper cover surface.
  • the preferred angular range for the side surface 10, on which the cutting carriage 3 and the laser cutting head K are attached, with the vertical plane of symmetry VSE of the profile 1 is at an angle ⁇ between 10° and 60°, preferably between 20° and 45°.
  • the opposite side 11, on which the trailing cable 4 is typically located, is inclined in the same way by an angle ⁇ , so that the bridge B in its entirety is designed essentially as a triangular box profile.
  • side 11 could also lie parallel to the vertical surface of symmetry VSE.
  • the profile 1, which is advantageously made from folded metal sheets connected to one another is preferably designed in the form of a hollow profile with at least one inner cross brace 14.
  • the side surface 11 is provided with a projection 12 for the optimized attachment of the trailing cable 4 .
  • the upper side of this projection 12 runs essentially perpendicularly to the side surface 11 or the inclined section thereof, and preferably accommodates the lower strand of the trailing cable 4 .
  • the relative position of the guides 2 for the cutting carriage 3 or the laser cutting head K is of particular importance for the torque and vibration-optimized attachment of the laser cutting head K to the bridge B.
  • At least two over the height of a side surface, preferably one opposite the vertical one Symmetry surface VSE inclined side surface 10, spaced-apart guides 2 for the cutting carriage 3 define an outer boundary surface FB on the side of the laser cutting head K.
  • This outer boundary surface FB must have an angle ⁇ between 10 and 60° with the vertical symmetry surface VSE, preferably an angle between 20 and 45°.
  • the side surface of the profile 1 of the bridge B facing the workpiece support W preferably runs over more than 30%, preferably more than half, of the width of the profile 1 essentially flat and parallel to the workpiece support W.
  • the above conditions must be such be expanded so that instead of the width of the profile 1, the support distance a, i.e. the distance between the two force transmission points from the bridge B to the support structure, occurs. This distance is defined by the contact points of the rollers 8 on the profile end pieces 7 with the guides 6.
  • Bridge B is preferably mounted and/or guided for displacement relative to workpiece support W below the center of gravity of bridge B.
  • guides 6 and rollers 8 of bridge B are also arranged below the center of gravity of bridge B.
  • virtual force transmission points can be defined at the intersection points of the outer boundary surfaces FB (also on both sides of the profile 1) with the support structure, preferably also the guides 6.
  • this boundary surface FB is equal to the inclined side surface 11.
  • the distance d between the real force transmission points is preferably in a range of +/- 100 mm from the virtual force transmission points, i.e. from the intersection of the extension of a boundary surface FB, 11 with the upper edge of the support structure.
  • the inclined side of the bridge B on the side on which the cutting carriage 3 and the cutting head K are arranged also protects a bellows covering the guides, drives, etc. against material splashes from the processing zone of the cutting head K.
  • Laser reflections and spatter can occur with a traditional design as in 1 hitting the bellows and leading to holes in it, which further leads to contamination below the bellows. This can lead to damage to the linear guides, the drives and the measuring systems.
  • Such spatters of material occur primarily during piercing processes, with the bridge B and the cutting head K standing still. According to the present invention with its inclined side surface 10 on the side of the cutting head K, this is largely prevented.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Mechanical Engineering (AREA)
  • Plasma & Fusion (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Laser Beam Processing (AREA)

Claims (8)

  1. Machine de découpe au laser, dans laquelle une tête de découpe au laser (K) peut être guidée au moyen d'un système de guidage le long de deux axes de préférence orthogonaux sur un support de pièce (W), la tête de découpe au laser (K) étant guidée de manière coulissante sur un pont (B) conçu en forme d'un profilé sensiblement rectiligne en forme de boîte le long de ce pont, le profilé (1) comportant au moins un guidage (2) pour un chariot de découpe (3) portant la tête de découpe au laser (K), et le centre de gravité (S) de la tête de découpe au laser (K) observé depuis une direction perpendiculaire au support de pièce (W) étant toujours voisin de la surface verticale de symétrie (VSE) du pont (B), caractérisée en ce que le chariot de découpe (3) et/ou la tête de découpe au laser (K) est relié(e) à une alimentation électrique et/ou à une source laser et/ou à une unité d'évaluation au moyen d'une chaîne porte-câbles (4) et le pont est conçu de telle manière qu'au moins deux surfaces latérales (10, 11) opposées du profilé (1) par rapport à la surface verticale de symétrie (VSE) au moins sur une partie de la hauteur du profilé (1) forment entre elles un angle (α) s'ouvrant dans la direction de la zone d'usinage, non nul et inférieur à 180°, de préférence inférieur à 90°, une seconde surface latérale (11), qui est tournée à l'opposé du chariot de découpe (3) ou de la tête de découpe au laser (K) par rapport à la surface verticale de symétrie (VSE), présentant une section inclinée au moins sur une partie de sa hauteur, qui forme un angle (γ) compris entre 10° et 60°, de préférence entre 20° et 45°, avec la surface verticale de symétrie (VSE), et sur la seconde surface latérale (11) dans la section plus proche de la zone d'usinage, est prévue une saillie (12) avec un côté supérieur sensiblement perpendiculaire à la section inclinée, le brin inférieur d'une section longitudinale du pont (B) de la chaîne porte-câbles (4) étant soutenu sur le côté supérieur de la saillie (12) du pont (B).
  2. Machine selon la revendication 1, caractérisée en ce qu'au moins la surface latérale (10) du profilé (1) tournée vers le chariot de découpe (3) ou la tête de découpe au laser (K) forme avec la surface verticale de symétrie (VSE) un angle (β) compris entre 10° et 60°, de préférence entre 20° et 45° sur au moins une partie de sa hauteur.
  3. Machine selon la revendication 1 ou 2, caractérisée en ce qu'au moins deux guidages (2) espacés sur la hauteur d'une surface latérale, de préférence une surface latérale inclinée par rapport à la surface verticale de symétrie (VSE), sont prévus pour un chariot de découpe (3) portant la tête de découpe au laser (K) et définissent une surface limite extérieure (FB) sur le côté de la tête de découpe au laser (K), cette surface limite extérieure (FB) formant un angle (β) compris entre 10 et 60°, de préférence un angle compris entre 20 et 45°, avec la surface verticale de symétrie (VSE).
  4. Machine selon l'une quelconque des revendications 1 à 3, caractérisée en ce qu'une face latérale (13) du profilé (1) tournée vers le support de pièce (W) s'étend sur plus de 30 %, de préférence sur plus de la moitié, de la largeur du profilé (1) ou de la distance d'appui (a) entre les deux points de transmission de force, de manière essentiellement plane et parallèle au support de pièce (W).
  5. Machine selon l'une quelconque des revendications 1 à 4, caractérisée en ce que le profilé (1) est réalisé à partir de tôles pliées reliées entre elles, de préférence sous la forme d'un profilé creux avec au moins une entretoise transversale intérieure (14).
  6. Machine selon l'une quelconque des revendications précédentes, caractérisée en ce que le pont (B) est monté de manière coulissante au moins du côté tourné vers le support de pièce (W), de préférence sur les deux extrémités opposées (7) dans le sens longitudinal et de préférence orthogonalement à l'étendue longitudinale du pont (B) par rapport au support de pièce (W).
  7. Machine selon l'une quelconque des revendications précédentes, caractérisée en ce que le support du pont (B) et/ou son guidage pour le coulissement par rapport au support de pièce (W) est disposé en dessous du centre de gravité du pont.
  8. Machine selon l'une quelconque des revendications précédentes, caractérisée en ce qu'au moins chaque point de transmission de force du pont (B) à sa structure porteuse se situe dans une plage de +/- 100 mm de l'intersection du prolongement d'une surface limite (FB, 11) avec le bord supérieur de la structure de support (6).
EP15785189.0A 2014-11-24 2015-10-14 Machine de découpe au laser Active EP3223996B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
EP14194596.4A EP3023190A1 (fr) 2014-11-24 2014-11-24 Dispositif de tête de coupe
PCT/IB2015/057862 WO2016083916A1 (fr) 2014-11-24 2015-10-14 Pont pour machines de découpe au laser

Publications (2)

Publication Number Publication Date
EP3223996A1 EP3223996A1 (fr) 2017-10-04
EP3223996B1 true EP3223996B1 (fr) 2022-09-21

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Family Applications (2)

Application Number Title Priority Date Filing Date
EP14194596.4A Withdrawn EP3023190A1 (fr) 2014-11-24 2014-11-24 Dispositif de tête de coupe
EP15785189.0A Active EP3223996B1 (fr) 2014-11-24 2015-10-14 Machine de découpe au laser

Family Applications Before (1)

Application Number Title Priority Date Filing Date
EP14194596.4A Withdrawn EP3023190A1 (fr) 2014-11-24 2014-11-24 Dispositif de tête de coupe

Country Status (5)

Country Link
US (1) US10661387B2 (fr)
EP (2) EP3023190A1 (fr)
JP (1) JP6802176B2 (fr)
CN (1) CN107000135B (fr)
WO (1) WO2016083916A1 (fr)

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DE102017007962A1 (de) 2017-08-24 2019-02-28 Deckel Maho Seebach Gmbh Werkzeugmaschine
KR102271355B1 (ko) * 2019-12-24 2021-06-30 주식회사 에이치케이 레이저 가공장치의 브릿지 프레임
CN113909704B (zh) * 2021-09-29 2023-03-07 江苏兴达智能制造有限公司 方管切割辅助装置、使用其的激光切割机及切割操作方法
CN113953685B (zh) * 2021-11-22 2023-09-01 重庆工商大学 一种平面板材激光切割路径规划方法
EP4357070A1 (fr) * 2022-10-20 2024-04-24 Bystronic Laser AG Pont pour une machine d'usinage au laser

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EP3023190A1 (fr) 2016-05-25
CN107000135B (zh) 2022-07-26
US10661387B2 (en) 2020-05-26
JP2018501114A (ja) 2018-01-18
CN107000135A (zh) 2017-08-01
EP3223996A1 (fr) 2017-10-04
JP6802176B2 (ja) 2020-12-16
US20170361402A1 (en) 2017-12-21

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